Modular adaptive control for LOS-based cooperative path maneuvering of multiple underactuated autonomous surface vehicles

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

91 Scopus Citations
View graph of relations

Author(s)

  • Lu Liu
  • Dan Wang
  • Zhouhua Peng
  • Tieshan Li

Related Research Unit(s)

Detail(s)

Original languageEnglish
Article number7835262
Pages (from-to)1613-1624
Journal / PublicationIEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume47
Issue number7
Publication statusPublished - Jul 2017

Abstract

This paper is concerned with the cooperative path maneuvering of multiple underactuated autonomous surface vehicles (ASVs) moving along a arameterized path. Each vehicle is subject to uncertain kinematics and unknown kinetics induced by model uncertainty and ocean disturbances. A modular adaptive control method is presented to develop the cooperative controller such that a queue formation along the parameterized path can be achieved. First, two identification modules are developed such that the uncertain kinematics and unknown kinetics can be estimated by an adaptive term and echo state networks, respectively. Next, a cooperative path maneuvering controller module is designed based on a line-of-sight guidance scheme, tracking differentiators, and a path variable containment approach. The path variable containment approach is used
to guarantee that the ASVs are evenly spaced between two virtual leaders moving along the path. Finally, the stability of the identification-controller pair is analyzed. Comparative studies are performed to validate the efficiency of the proposed method.

Research Area(s)

  • Echo state network (ESN), Line-of-sight (LOS), Path maneuvering, Path variable containment, Tracking differentiator (TD)

Citation Format(s)

Modular adaptive control for LOS-based cooperative path maneuvering of multiple underactuated autonomous surface vehicles. / Liu, Lu; Wang, Dan; Peng, Zhouhua; Li, Tieshan.

In: IEEE Transactions on Systems, Man, and Cybernetics: Systems, Vol. 47, No. 7, 7835262, 07.2017, p. 1613-1624.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review